US20150096392A1 - Actuator having an offset motor using a flexible transmission, and robotic arm using such an actuator - Google Patents

Actuator having an offset motor using a flexible transmission, and robotic arm using such an actuator Download PDF

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Publication number
US20150096392A1
US20150096392A1 US14/396,601 US201314396601A US2015096392A1 US 20150096392 A1 US20150096392 A1 US 20150096392A1 US 201314396601 A US201314396601 A US 201314396601A US 2015096392 A1 US2015096392 A1 US 2015096392A1
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United States
Prior art keywords
flexible
cable
shaft
transmission
sheath
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/396,601
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English (en)
Inventor
Philippe Garrec
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Assigned to COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES reassignment COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GARREC, PHILIPPE
Publication of US20150096392A1 publication Critical patent/US20150096392A1/en
Abandoned legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/02—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements
    • F16C1/06—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing for conveying rotary movements with guiding sheathing, tube or box
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/26—Construction of guiding-sheathings or guiding-tubes
    • F16C1/28—Construction of guiding-sheathings or guiding-tubes with built in bearings, e.g. sheathing with rolling elements between the sheathing and the core element
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0622—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation
    • F16H19/0628—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation the flexible member, e.g. a cable, being wound with one string to a drum and unwound with the other string to create reciprocating movement of the flexible member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/06—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow axial displacement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/21—Flaccid drive element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/25—Gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut

Definitions

  • the invention relates to a cable cylinder with an offset motor using a flexible transmission, and to a robotized arm using such a cylinder.
  • Flexible transmissions generally comprise a flexible transmission shaft which extends through a sheath, which is also flexible.
  • the ends of the flexible shaft are attached on the one hand to a motor component capable of making the shaft rotate, and on the other hand to a receiving component which utilizes the rotation of the flexible shaft.
  • Such transmissions are generally used when a relative movement between the motor component and the receiving component is envisioned.
  • the sliding contact between the shaft and the sheath leads to sliding friction which is high and furthermore variable with the radius of curvature, even when a lubricant is used.
  • Flexible transmissions comprising a flexible shaft extending through a flexible sheath are known, the shaft having ends linked to end-pieces which are guided in rotation by ball bearings interposed between each end-piece and the sheath.
  • the use of ball bearings for guiding the ends improves the efficiency of the assembly, which, however, still suffers from friction between the shaft and the sheath.
  • Document U.S. Pat. No. 4,424,045 discloses a rigid-sheath transmission composed of successive curved segments which can be oriented with respect to one another.
  • the sheath receives a flexible shaft which is guided by bearings made of plastic material, for example polyimide resin, these being arranged at each connection between two successive segments.
  • the rigid sheath does not allow movements between the motor component and the receiving component to be followed. Furthermore, sliding friction acts between the bearings and the shaft, which again leads to poor efficiency.
  • Document FR 551944 discloses flexible transmissions intended to be arranged between a motor component imparting a rotational movement and a receiving component receiving the rotational movement via the flexible transmission, such transmissions comprising a flexible sheath which receives a flexible shaft with rolling-element bearings regularly interposed between the flexible sheath and the flexible shaft in order to guide the latter in rotation in the sheath.
  • the sheath is sufficiently flexible to follow the relative movements between the motor component and the receiving component, but is nevertheless sufficiently rigid to impose its curvature on the flexible shaft through the bearings.
  • the transmission of the invention combines both flexibility and friction which is low (high efficiency) and regular, and which depends very little on the radius of curvature, which allows possible compensation through the controlling of the actuator which is equipped with it.
  • arrangements will be made to space the bearings apart in such a way that the flexible shaft portion between two successive bearings cannot either lead to static instability (for example by twisting) or enter an unstable mode in view of the rotational speed imparted to the flexible shaft.
  • a critical torque and a maximum rotational speed for which the flexible shaft portions cannot enter an unstable mode will be determined; the two phenomena may lead to the creation of contact points, and therefore an abrupt increase in friction between the flexible shaft and the flexible sheath.
  • the object of the invention is to provide a cable cylinder with an offset motor, a flexible transmission with improved efficiency, and a robotized arm.
  • the invention relates to a cable cylinder comprising a tensioned cable and a screwnut assembly, of which one of the elements is attached to the cable and the other of the elements is driven in rotation by a motor component, wherein the motor is connected to the element to be driven by at least one flexible transmission which comprises a flexible sheath in which a flexible shaft extends, rolling-element bearings being regularly interposed between the flexible sheath and the flexible shaft in order to guide the latter in rotation in the flexible sheath while avoiding any contact between the shaft and the sheath.
  • the invention also relates to a robotized arm comprising at least first, second and third parts articulated to one another, the movement of the third part relative to the second part being actuated by a cable cylinder arranged on the second part, the cable cylinder comprising a motor component arranged on the first part and connected to the cable cylinder by at least one flexible transmission according to the invention.
  • FIG. 1 is a schematic sectional view of a flexible transmission which can be used in the scope of the invention
  • FIG. 2 is a schematic view of an application of the flexible transmission of FIG. 1 to the actuation of a segment of a robotized arm;
  • FIG. 2 bis is a detail view of one possible way of mounting the motor component on the robotized arm of FIG. 2 ;
  • FIG. 3 is a schematic view of one application of the flexible transmission of FIG. 1 to the actuation of a segment of a robotized arm;
  • FIG. 4 is a schematic view of another use of the transmission of the invention for the actuation of a segment of a robotized arm, in which two transmissions are coupled in series.
  • Rolling-element bearings here ball bearings 4 , are interposed between the flexible shaft 3 and the flexible sheath 2 in order to guide the flexible shaft 3 in rotation and prevent it from touching the flexible sheath 2 .
  • the spacing of the bearings is selected, taking into account the rigidity characteristics of the flexible shaft 3 , torque to be transmitted and the maximum rotational speed imposed on the flexible shaft 3 , so that the flexible shaft portions 3 extending between two bearings 4 can neither twist nor enter an unstable mode.
  • the ends of the flexible shaft may be made to extend out of the flexible sheath in order to be coupled directly to the motor component and to the receiving component.
  • the ends of the flexible shaft 3 may furthermore be linked in rotation with end-pieces mounted so as to rotate at the ends of the flexible sheath with the aid of rolling-element bearings.
  • FIG. 2 represents an application of the invention to the actuation of a segment of a robotized arm.
  • the robotized arm 10 illustrated comprises a base 11 , on which a first segment 12 is articulated about a pivot connection 13 .
  • a second segment 14 is articulated to the end of the first segment 12 by another pivot connection 15 .
  • the movements of the second segment 14 with respect to the first segment 12 are actuated by a cable cylinder 16 , which comprises a cable 17 mounted endlessly under tension between a pulley 18 pivoting about the axis of the pivot connection 15 , while being linked to the second segment 14 , and a return pulley 19 mounted so as to rotate on the first segment 12 .
  • One of the strands of the cable 17 is linked to a screw 20 , which can be displaced axially under the effect of a rotation of an associated nut 21 .
  • the nut 21 is provided with teeth in order to be driven in rotation by a toothed wheel 22 , which is itself driven by a motor component 23 arranged on the base 11 .
  • a flexible transmission according to the invention is installed between the motor component 23 and the toothed wheel 22 , in order to allow the toothed wheel 22 to be driven in rotation by the motor component 23 . It will be noted that pivoting movements between the motor component 23 and the receiving component, in this case the toothed wheel 22 , are allowed by the pivot connection 13 .
  • FIG. 2 bis illustrates a mounting variant in which the motor 23 is mounted free to move along an axis X against an elastic restoring force toward a stop 24 .
  • This type of mounting makes it possible to accommodate the tension forces which could be imposed on the transmission because of the movements of the first segment 12 relative to the base 11 .
  • part of the arm which carries the motor component and the part of the arm which carries the receiving component may be separated from one another by more than one articulation, as in the example illustrated in FIG. 3 , in which an intermediate segment 24 is interposed between the base 11 and the first segment 12 .
  • the flexible transmission of the invention makes it possible to offset the motors while maintaining a longitudinal orientation thereof along the portion of the robotized arm which carries the motors. Furthermore, such a transmission may be designed without an operating play, which improves the repeatability of the movement transmission. Furthermore, the inertia introduced by such a transmission is very small compared with the inertia provided by a transmission with a shaft and an angle return. Furthermore, such a transmission has a low cost compared with entirely rigid solutions.
  • a flexible transmission in robotics for example the actuation of a phalange of a finger of a robotized hand by means of a cable cylinder arranged in the palm, the cable cylinder itself being connected to a motor component arranged in the forearm by means of a flexible transmission according to the invention.
  • the actuation of a leg of a lower exoskeleton by means of a cable cylinder arranged on the thigh may also be mentioned, the cable cylinder itself being connected to a motor component arranged in the pelvis of the exoskeleton by means of a flexible transmission according to the invention.
  • a plurality of flexible transitions are used, which are placed in series and connected to one another by a coupling component fixed to the robotized arm.
  • two flexible transmissions 1 and 1 ′ are used in order to connect the toothed wheel of a cable cylinder to a motor component.
  • the two flexible transmissions are connected to a coupling component 30 comprising on the one hand a splined shaft 31 mounted so as to rotate on a support 32 linked to the robotized arm, and on the other hand a splined bushing 33 mounted on the splined shaft so as to be able to slide on the latter while being linked in rotation with the splined shaft.
  • the end of the flexible shaft of the flexible transmission 1 is coupled to the bushing 33 , while the end of the flexible shaft of the flexible transmission 1 ′ is coupled to the splined shaft 32 .
  • this coupling makes it possible to limit the length of each flexible transmission used, while leaving axial freedom to accommodate the possible tensions which may affect the flexible transmission 1 .
  • the running part of the flexible sheath of each flexible transmission is not subjected to any stress.
  • bearings of the flexible transmission which is described here are ball bearings, other rolling-element bearings may also be used, for example needle roller bearings, so long as they are compatible with the curvature of the flexible shaft.
  • the cable cylinder using the flexible connection of the invention comprises a cable mounted endlessly under tension between two pulleys
  • a unilateral-effect cylinder in which the cable passes around a pulley which thus defines a first cable strand linked to one of the elements of the screwnut assembly, and a second cable strand associated with a return spring so as to be tensioned by said return spring.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Flexible Shafts (AREA)
  • Transmission Devices (AREA)
US14/396,601 2012-05-09 2013-04-26 Actuator having an offset motor using a flexible transmission, and robotic arm using such an actuator Abandoned US20150096392A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1254237 2012-05-09
FR1254237A FR2990485B1 (fr) 2012-05-09 2012-05-09 Arbre de transmission flexible, et verin a cable a moteur deporte utilisant un tel arbre
PCT/EP2013/058720 WO2013167396A1 (fr) 2012-05-09 2013-04-26 Verin a moteur deporte utilisant une transmission flexible, et bras robotise utilisant un tel verin

Publications (1)

Publication Number Publication Date
US20150096392A1 true US20150096392A1 (en) 2015-04-09

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ID=48236925

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US14/396,601 Abandoned US20150096392A1 (en) 2012-05-09 2013-04-26 Actuator having an offset motor using a flexible transmission, and robotic arm using such an actuator

Country Status (5)

Country Link
US (1) US20150096392A1 (fr)
EP (1) EP2847475B1 (fr)
JP (1) JP5973657B2 (fr)
FR (1) FR2990485B1 (fr)
WO (1) WO2013167396A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563470A (zh) * 2016-02-25 2016-05-11 上海大学 一种柔性仿鱼鳍双协作机器人
WO2020215385A1 (fr) * 2019-04-26 2020-10-29 哈尔滨工业大学（深圳） Système de test cinématique destiné à un robot flexible entraîné par câble
US20210122040A1 (en) * 2018-04-17 2021-04-29 Vrije Universiteit Brussel Decentralized rotary actuator
CN113062916A (zh) * 2021-03-11 2021-07-02 上海交通大学 一种软轴传动机构
US11067155B1 (en) * 2020-07-27 2021-07-20 Hi-Lex Controls, Inc. Spindle drive for curved path of movement
US11353095B2 (en) * 2018-12-27 2022-06-07 Commissariat A L'energie Atomique Et Aux Energies Alternatives Transmission for cable cylinder with offset nut anchorage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUA20162490A1 (it) 2016-04-11 2017-10-11 Fondazione St Italiano Tecnologia Attuatore per esoscheletro
CN109630534B (zh) * 2019-02-25 2024-02-06 浏阳市鸿安机械制造有限公司 一种烟花生产设备的柔性轴传动装置
CN111203912B (zh) * 2020-01-16 2022-04-26 哈尔滨工业大学 流体与腱绳混合驱动的五自由度柔性臂
FR3131356B1 (fr) * 2021-12-23 2024-02-16 Commissariat Energie Atomique dispositif et procédé de transmission de mouvement, robot et véhicule automobile équipés d’un tel dispositif

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US4424045A (en) * 1982-05-24 1984-01-03 Pennwalt Corporation Rigid high speed flexible shaft casing assembly for tight radii installations
US4796515A (en) * 1986-09-05 1989-01-10 Ascolectric Limited Rodless cylinder
US4884544A (en) * 1988-04-12 1989-12-05 Cable Manufacturing And Assembly Company, Inc. Control cable
US5174170A (en) * 1989-06-02 1992-12-29 Nissinbo Industries Incorporated Device for controlling the position and movement of a cable
WO2002057640A1 (fr) * 2001-01-22 2002-07-25 Mark Evans O'halloran Assemblage d'entrainement souple pour transmission de couple et de rotation
US6553718B2 (en) * 2000-06-22 2003-04-29 Meritor Light Vehicle Systems-France Cable tensioning device
US7389974B2 (en) * 2003-03-14 2008-06-24 Commissariat A L'energie Atomique Screw, nut and cable transmission
US7574939B2 (en) * 2003-03-14 2009-08-18 Commissariat A L'energie Atomique Intermediate segment of an articulated arm comprising a screw and nut transmission
DE102011120095A1 (de) * 2011-12-02 2013-06-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Wellenanordnung sowie Verfahren zum Weiterleiten von um eine Drehachse wirkenden Drehmomenten
US8635929B2 (en) * 2010-01-14 2014-01-28 Samsung Electronics Co., Ltd. Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus
US8714045B2 (en) * 2009-01-08 2014-05-06 Samsung Electronics Co., Ltd. Robot joint driving apparatus and robot having the same
US8950285B2 (en) * 2009-09-09 2015-02-10 Samsung Electronics Co., Ltd. Robot joint driving method, computer-readable medium, device assembly and robot having the same

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FR551944A (fr) * 1922-05-23 1923-04-17 Perfectionnements aux transmissions flexibles
JPS62188690A (ja) * 1986-02-14 1987-08-18 三菱重工業株式会社 作業ロボツトの駆動系揺動抑制装置
JP5517195B2 (ja) * 2009-11-20 2014-06-11 スキューズ株式会社 回動装置、回動制御システム、及び回動装置への流体供給制御方法
JP5398506B2 (ja) * 2009-12-16 2014-01-29 Ｎｔｎ株式会社 可撓性ワイヤ

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4424045A (en) * 1982-05-24 1984-01-03 Pennwalt Corporation Rigid high speed flexible shaft casing assembly for tight radii installations
US4796515A (en) * 1986-09-05 1989-01-10 Ascolectric Limited Rodless cylinder
US4884544A (en) * 1988-04-12 1989-12-05 Cable Manufacturing And Assembly Company, Inc. Control cable
US5174170A (en) * 1989-06-02 1992-12-29 Nissinbo Industries Incorporated Device for controlling the position and movement of a cable
US6553718B2 (en) * 2000-06-22 2003-04-29 Meritor Light Vehicle Systems-France Cable tensioning device
WO2002057640A1 (fr) * 2001-01-22 2002-07-25 Mark Evans O'halloran Assemblage d'entrainement souple pour transmission de couple et de rotation
US7389974B2 (en) * 2003-03-14 2008-06-24 Commissariat A L'energie Atomique Screw, nut and cable transmission
US7574939B2 (en) * 2003-03-14 2009-08-18 Commissariat A L'energie Atomique Intermediate segment of an articulated arm comprising a screw and nut transmission
US8714045B2 (en) * 2009-01-08 2014-05-06 Samsung Electronics Co., Ltd. Robot joint driving apparatus and robot having the same
US8950285B2 (en) * 2009-09-09 2015-02-10 Samsung Electronics Co., Ltd. Robot joint driving method, computer-readable medium, device assembly and robot having the same
US8635929B2 (en) * 2010-01-14 2014-01-28 Samsung Electronics Co., Ltd. Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus
DE102011120095A1 (de) * 2011-12-02 2013-06-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Wellenanordnung sowie Verfahren zum Weiterleiten von um eine Drehachse wirkenden Drehmomenten

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563470A (zh) * 2016-02-25 2016-05-11 上海大学 一种柔性仿鱼鳍双协作机器人
US20210122040A1 (en) * 2018-04-17 2021-04-29 Vrije Universiteit Brussel Decentralized rotary actuator
US11353095B2 (en) * 2018-12-27 2022-06-07 Commissariat A L'energie Atomique Et Aux Energies Alternatives Transmission for cable cylinder with offset nut anchorage
WO2020215385A1 (fr) * 2019-04-26 2020-10-29 哈尔滨工业大学（深圳） Système de test cinématique destiné à un robot flexible entraîné par câble
US11067155B1 (en) * 2020-07-27 2021-07-20 Hi-Lex Controls, Inc. Spindle drive for curved path of movement
CN113062916A (zh) * 2021-03-11 2021-07-02 上海交通大学 一种软轴传动机构

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EP2847475A1 (fr) 2015-03-18
FR2990485A1 (fr) 2013-11-15
EP2847475B1 (fr) 2016-06-01
JP2015521263A (ja) 2015-07-27
JP5973657B2 (ja) 2016-08-23
WO2013167396A1 (fr) 2013-11-14

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